RGB Extrinsic recovery routine failed

[fiorano10]

---

Required Info
Camera Model	D435i
Firmware Version	5.12.1/3/5
Operating System & Version	Ubuntu 18
Kernel Version (Linux Only)	5.4.0-42-generic
Platform	PC
SDK Version	v2.33.1
Language	C++
Segment	Robot

I updated the camera to 5.12.5 using rs-fw-update and since then I've been getting these errors when launching the ROS node:

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "camera2_color_frame" from authority "unknown_publisher" because of a nan value in the transform (-nan nan nan) (-nan -nan -nan -nan)
         at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "camera2_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp

[MartyG-RealSense]

Hi @fiorano10 In a past ROS case where the Ignoring transform for child_frame_id error was reported, Doronhi the RealSense ROS wrapper developer said that camera extrinsics can go wrong during a firmware update. This may be what happened to you, given that the problem coincided with a firmware update.

IntelRealSense/realsense-ros#595 (comment)

Given that firmware 5.12.5 is no longer the most recent firmware (5.12.6 is the newest at the time of writing this), upgrading to 5.12.6 would seem to be the best option. If 5.12.5 is your preference, you would still have the option of downgrading back to 5.12.5 afterward and hopefully the update will complete successfully this time.

If the problem is not resolved by a firmware update, performing a gold reset of the camera to its factory-default configuration may resolve the problem, and this method worked for RealSense users in the discussion linked to above. who still had issues after a firmware update A Gold Reset restores the camera's calibration to its factory-new configuration and corrects corruptions in the calibration table stored inside the camera.

The details of how to perform a gold reset are:

1. Install the Dynamic Calibrator software for the 400 Series cameras. Instructions to do so in Linux are on page 14 onward of the user guide for the tool.

https://www.intel.com/content/www/us/en/support/articles/000026723/emerging-technologies/intel-realsense-technology.html

2. A program called CustomRW is installed as part of the Dynamic Calibrator tool. It is installed by default to the location /usr/bin on Linux.

You can use CustomRW to perform a gold reset on the camera by inputting the command below:

Intel.Realsense.CustomRW -g

See page 58 onward of the user guide for the full documentation about CustomRW.

[MartyG-RealSense]

Case closed due to no further comments received.